Start Date
8-5-2024 3:00 PM
End Date
8-5-2024 3:15 PM
Document Type
Full Paper
Keywords
Human-robot interaction, Manipulation, Assistive, Haptic Interfaces, Cobots, CVTs
Description
Robot telemanipulation systems use operator interfaces coupled to avatars (remote robots) so people can touch and manipulate things far away. When the operator’s hand controls the interface, it may be called a haptic interface. An important haptic research topic is determining how to provide a realistic sensation of a remote object. However, existing haptic devices have been criticized for having limited capabilities that prevent them from excelling at both ends of the impedance spectrum. This can make them operate slowly and be challenging due to issues with mobility, immersive displays, and direct in-hand manipulation. It also reduces haptics to low dexterity tasks, often only by expertly trained users. We are developing a haptic interface that utilizes cobotic technology and continuously variable transmissions (CVTs) to address this need. This paper presents the mechanical design for the haptic interface. It assesses the manipulator’s range of motion compared to the human forefinger to ensure it can follow any of its movements as proof of concept of the mechanical design of a finger-based haptic device that uses CVTs to enhance the interaction with remote objects and surfaces in telemanipulation systems.
DOI
https://doi.org/10.5038/YAFG3229
Using Cobot Technology to Design a Finger-Based Haptic Device
Robot telemanipulation systems use operator interfaces coupled to avatars (remote robots) so people can touch and manipulate things far away. When the operator’s hand controls the interface, it may be called a haptic interface. An important haptic research topic is determining how to provide a realistic sensation of a remote object. However, existing haptic devices have been criticized for having limited capabilities that prevent them from excelling at both ends of the impedance spectrum. This can make them operate slowly and be challenging due to issues with mobility, immersive displays, and direct in-hand manipulation. It also reduces haptics to low dexterity tasks, often only by expertly trained users. We are developing a haptic interface that utilizes cobotic technology and continuously variable transmissions (CVTs) to address this need. This paper presents the mechanical design for the haptic interface. It assesses the manipulator’s range of motion compared to the human forefinger to ensure it can follow any of its movements as proof of concept of the mechanical design of a finger-based haptic device that uses CVTs to enhance the interaction with remote objects and surfaces in telemanipulation systems.